CN107588769A - A kind of vehicle-mounted inertial navigation, odometer and altimeter Combinated navigation method - Google Patents
A kind of vehicle-mounted inertial navigation, odometer and altimeter Combinated navigation method Download PDFInfo
- Publication number
- CN107588769A CN107588769A CN201710965097.3A CN201710965097A CN107588769A CN 107588769 A CN107588769 A CN 107588769A CN 201710965097 A CN201710965097 A CN 201710965097A CN 107588769 A CN107588769 A CN 107588769A
- Authority
- CN
- China
- Prior art keywords
- mrow
- inertial navigation
- mover
- mtd
- odometer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Navigation (AREA)
Abstract
The invention discloses a kind of vehicle-mounted inertial navigation, odometer and altimeter Combinated navigation method, this method to comprise the following steps：Inertial navigation is initially aligned；Inertial navigation carries out inertia resolving, and odometer and altimeter also begin to work；Calculate average speed observed quantity and height observed quantity；Inertial navigation error, odometer scale coefficient error, inertial navigation alignment error, lever arm error and altimeter error are obtained by Kalman filtering；Inertial navigation error, odometer scale coefficient error, inertial navigation alignment error, lever arm error and altimeter error are corrected；SINS Attitude information, velocity information and positional information after correction are exported as navigation information；Return to inertia process of solution.The present invention makes navigation system be disturbed independent of external equipment, not by external signal, can be that " parking is just beaten " provides high-precision position and azimuth reference information, the Combinated navigation method also has outstanding advantages of quick, easy, engineering practicability is strong.
Description
Technical field
The present invention relates to vehicle mounted guidance technical field, specifically for, the present invention is a kind of vehicle-mounted inertial navigation, mileage
Meter and altimeter Combinated navigation method.
Background technology
At present, truck-mounted missile generally requires to meet the ability that can realize that parking is beaten in any place any time, and this is just
It is required that onboard navigation system must provide the continuous positional information of high accuracy and attitude information.Traditional onboard navigation system is realization
High-precision positioning and accurate posture, use the mode of inertial navigation and satellite navigation integrated navigation.But satellite is led
Boat is easily influenceed by electronic interferences, and the influence especially in Military Application becomes apparent.
Therefore, how to weaken or even eliminate influence of the electronic interferences to vehicle mounted guidance, improve vehicle mounted guidance precision and accurate
Degree, becomes those skilled in the art's technical problem urgently to be resolved hurrily and the emphasis studied all the time.
The content of the invention
To solve the problems, such as that conventional onboard navigation system is easily influenceed by electronic interferences, the present invention innovatively proposes one kind
Vehicle-mounted inertial navigation, odometer and altimeter Combinated navigation method, it has independent of external equipment, not disturbed by external signal
The characteristics of, provide autonomous positioning, directed information for truck-mounted missile.
To realize above-mentioned technical purpose, the invention discloses the combination of a kind of vehicle-mounted inertial navigation, odometer and altimeter
Air navigation aid, this method comprise the following steps,
Step 1, when carrier vehicle is static, inertial navigation is initially aligned, and inertial navigation enters after the completion of initial alignment
Enter integrated navigation state；
Step 2, inertial navigation carries out inertia resolving, obtains inertial navigation outgoing position, speed, posture and height, calculates lever arm
Speed, while odometer output speed is obtained by odometer and altimeter output height is obtained by altimeter；
Step 3, to inertial navigation output speed, the lever arm speed and odometer output speed that calculate within the Kalman filtering cycle
Integral operation is carried out respectively, obtains inertial navigation mileage increment, lever arm mileage increment and odometer mileage increment, inertial navigation mileage is increased
Amount, lever arm mileage increment and odometer mileage increment difference divided by Kalman filtering cycle, obtain inertial navigation average speed, lever arm is put down
Equal speed and odometer average speed, then calculate average speed observed quantity；It is high by inertial navigation output height and altimeter output
Degree obtains height observed quantity；
Step 4, the average speed observed quantity and the height observed quantity are inputted into Kalman filter, so as to
To inertial navigation error estimate, lever arm error estimate, inertial navigation alignment error estimate, odometer scale coefficient error
Estimate and altimeter error estimate；
Step 5, inertial navigation error is corrected using above-mentioned inertial navigation error estimate, utilizes odometer scale
System errors estimate is corrected to odometer calibration factor, and inertial navigation is installed using the inertial navigation alignment error
Matrix is modified, and lever arm is corrected using the lever arm error estimate, utilizes the altimeter error estimate pair
Altimeter error is corrected；Inertial navigation velocity information, positional information and attitude information after correction enter as navigation information
Row output；It is then back to step 2.
The present invention may be directly applied to have SINS, odometer, the onboard navigation system of air pressure altimeter, this
Invention can be such that onboard navigation system is not disturbed by external signal, can provide reliable navigation entirely autonomously for truck-mounted missile
Information, it is a kind of comparatively ideal onboard combined navigation scheme.
Further, in step 2, lever arm speed is calculated using SINS Attitude matrix and lever arm length estimate：
Wherein,The lever arm speed calculated is represented,The attitude matrix that inertial navigation calculates is represented,Represent that inertial navigation carries
Body coordinate system b with respect to the earth projection of the speed on inertial navigation carrier coordinate system b,Represent the lever arm length calculated.
Further, in step 2, odometer output speed is calculated using odometer output pulse number；In carrier vehicle coordinate
The odometer output speed for being vector form under m is：
Wherein,The odometer output speed of the vector form under carrier vehicle coordinate system m is represented,Represent odometer scale system
Number, NiRepresent odometer output umber of pulse, TsRepresent the sampling period；
The mileage odometer output speed under carrier vehicle coordinate system m being transformed into the following way under navigational coordinate system n
Count output speed：
Wherein,Represent inertial navigation installation matrix.
Further, in step 3, average speed observed quantity is calculated by following formula：
Wherein,Average speed observed quantity is represented, T represents the Kalman filtering cycle,Represent the speed of inertial navigation output
Degree.
Using inertial navigation and odometer average speed measurement, carrier vehicle vibration can be eliminated to a certain extent and quantifies to miss
Influence of the difference to integrated navigation.
Further, in step 3, height observed quantity is obtained in the following way：
Wherein, z2Height observed quantity is represented,Inertial navigation output height is represented,Represent altimeter output height.
Further, in step 4, following state equation is used in the Kalman filter：
Wherein,Inertial navigation the misaligned angle of the platform rate of change is represented,Inertial navigation velocity error rate of change is represented,SINS Position error rate is represented,Inertial navigation gyroscope constant value drift rate of change is represented,Represent strapdown
Inertial navigation accelerometer constant value drift rate of change,Odometer scale coefficient error rate of change is represented,Represent inertial navigation
Pitching alignment error rate of change,Inertial navigation orientation alignment error rate of change is represented,Lever arm error rate is represented,Altimeter error rate is represented,Represent navigational coordinate system n relative inertnesses system's angular speed under navigational coordinate system n
Projection, εbRepresent gyroscope constant value drift,Represent Gyro Random noise, fbInertial navigation specific force is represented,Represent earth rotation angle speed
The projection on navigational coordinate system n is spent,Represent navigational coordinate system n with respect to earth rotational angular velocity on navigational coordinate system n
Projection, δ VnFor inertial navigation output speed error, VnRepresent inertial navigation output speed, ▽bAccelerometer constant value drift is represented,Represent
Accelerometer random noise, δ P represent inertial navigation site error, RMEarth radius of curvature of meridian is represented, h is inertial navigation place
Highly, L dimension, V where inertial navigationNFor north orientation speed, VEFor east orientation speed, RNFor earth prime vertical radius.
Further, in step 4, described Kalman filter uses following observational equation：
z2=δ h- δ hb
Wherein, μ=[the δ β of δ α 0]TFor inertial navigation alignment error, δ h are inertial navigation height error, δ hbFor air pressure height
Journey meter error.
Based on above-mentioned improved technical scheme, every error of inertial navigation etc. more can be accurately estimated, so as to
It is corrected.
Further, in step 5, every error is corrected by following formula：
K=1- δ k；
Based on above-mentioned improved technical scheme, the vehicle-mounted inertial navigation/odometer/altimeter Combinated navigation method of the present invention can
Estimate gyroscope constant value drift, accelerometer constant value zero bias, inertial navigation alignment error, odometer scale coefficient error, lever arm
Error etc., effectively reduce horizontal and elevation location error divergence speed.Meanwhile can estimate inertial navigation attitude error,
Velocity error, site error, therefore, revised SINS Attitude, speed and position can be as the navigation of integrated navigation
As a result.
Further, the lever arm is arranged at sensitivity center and the odometer tachometric survey of inertial navigation Inertial Measurement Unit
Between point；Under navigational coordinate system n, sensitivity center's speed, inner of inertial navigation Inertial Measurement Unit is determined as follows
Relation between journey meter output speed, lever arm speed：
Wherein,Sensitivity center's speed of inertial navigation Inertial Measurement Unit is represented,Odometer output speed is represented,Represent lever arm speed.
Beneficial effects of the present invention are：The present invention may be directly applied to SINS, odometer, air pressure elevation
The onboard navigation system of meter, these three working sensors are all independent of external equipment, so as to which the present invention can make vehicle mounted guidance
System is not disturbed by external signal, can provide reliable navigation information entirely autonomously for truck-mounted missile, is a kind of more satisfactory
Vehicle mounted guidance scheme.
The Combinated navigation method is not disturbed by external signal, independent can led to be vehicle-mounted independent of external equipment
Bullet provides the positional information of degree of precision, while the Combinated navigation method can guarantee that azimuthal error does not dissipate, and can be that " parking is just
Beat " high-precision azimuth reference information is provided.In addition, the Combinated navigation method also has quick, easy, engineering practicability is strong etc.
Outstanding advantages, autonomous reliable Combinated navigation method can be provided for vehicle positioning orientation system.
Brief description of the drawings
Fig. 1 is vehicle-mounted inertial navigation, odometer and altimeter Combinated navigation method schematic flow sheet.
Fig. 2 is the implementation block diagram of vehicle-mounted inertial navigation, odometer and altimeter Combinated navigation method.
Embodiment
Vehicle-mounted inertial navigation, odometer and the altimeter Combinated navigation method of the present invention are entered with reference to Figure of description
The detailed explanation and illustration of row.
As depicted in figs. 1 and 2, the invention particularly discloses the combination of a kind of vehicle-mounted inertial navigation, odometer and altimeter to lead
Boat method, the core improvement of the Combinated navigation method are to add lever arm rate pattern, altimeter error model and card
The design of average speed observed quantity in Thalmann filter；Odometer auxiliary inertial navigation horizontal position error divergence speed is smaller,
Height error divergence speed is very fast, after introducing altimeter so that height error diverging diminishes；And for the output of attitude information,
The present invention using inertial navigation correct in itself after attitude information.
Specifically, this method comprises the following steps.
Step 1, when carrier vehicle is static, inertial navigation is initially aligned, to obtain the position of inertial navigation, speed, appearance
State initial value.And inertial navigation enters integrated navigation state after the completion of initial alignment, after initial alignment, carrier vehicle can open
It is dynamic.
Step 2, inertial navigation carries out inertia resolving, obtains inertial navigation outgoing position, speed, posture and height, calculates lever arm
Speed, while odometer output speed is obtained by odometer and altimeter output height is obtained by altimeter；Specifically such as
Under.
In the present embodiment, vehicle-mounted odometer uses Hall sensor, and the Hall sensor is installed on carrier vehicle power transmission shaft, and
With the pace of impulse form output non-steering axle central point, odometer output is calculated using odometer output pulse number
Speed；The carrier vehicle coordinate system m of the present embodiment is upper coordinate system before the right side；Consider carrier vehicle normally travel when vehicle without break away, without skidding
And without jump in the case of, the odometer output speed of vector form is under carrier vehicle coordinate system m：
Wherein, it is above-mentionedThe odometer output speed of the vector form under carrier vehicle coordinate system m is represented,Represent that odometer is carved
Spend coefficient, NiRepresent odometer output umber of pulse, TsRepresent the sampling period.
Because integrated navigation needs to export the position of navigational coordinate system (n systems), so the present invention sits odometer in carrier vehicle
Output under mark system is transformed into navigational coordinate system, if inertial navigation carrier coordinate system is b systems, it is contemplated that and b systems and m systems are misaligned,
Then preferable export of the lower odometer of b systems and n systems is respectively：
Wherein,SINS Attitude matrix is represented,Represent inertial navigation installation matrix；By pitching established angle α,
Roll established angle γ and orientation established angle β compositions, it is unrelated with roll established angle γ by the way that odometer output is calculated, therefore,
Odometer output is also unrelated with roll fix error angle.In view of odometer scale coefficient error δ k, inertial navigation pitching installation
Error delta α, inertial navigation orientation alignment error δ β and inertial navigation the misaligned angle of the platformThe then actual speed calculated of odometer
It can be write as：
Wherein,μ=[the δ β of δ α 0]T, and × represent vector fork
Multiply symbol.
In the present embodiment, sensitivity center and odometer tachometric survey point of the lever arm length for inertial navigation Inertial Measurement Unit
The distance between, when carrier vehicle has angular movement, between inertial navigation Inertial Measurement Unit (IMU) and odometer tachometric survey point
Speed is variant, and in integrated navigation, the speed difference as caused by lever arm is unrelated with the error propagation of integrated navigation system, if not
Elimination will influence integrated navigation precision；Under navigational coordinate system n, inertial navigation Inertial Measurement Unit is determined as follows
Sensitivity center's speed, odometer output speed, the relation between lever arm speed：
Wherein,Sensitivity center's speed of inertial navigation Inertial Measurement Unit is represented,Odometer output speed is represented,Lever arm speed is represented,Represent speed of the inertial navigation carrier coordinate system b with respect to the earth on inertial navigation carrier coordinate system b
Projection, lbRepresent lever arm length, δ lbRepresent lever arm error estimate.
Step 3, to inertial navigation output speed, the lever arm speed and odometer output speed that calculate within the Kalman filtering cycle
Integral operation is carried out respectively, obtains inertial navigation mileage increment, lever arm mileage increment and odometer mileage increment, inertial navigation mileage is increased
Amount, lever arm mileage increment and odometer mileage increment difference divided by Kalman filtering cycle, obtain inertial navigation average speed, lever arm is put down
Equal speed and odometer average speed, then calculate average speed observed quantity；It is high by inertial navigation output height and altimeter output
Degree obtains height observed quantity.
It should be noted that odometer essence belongs to velocity sensor, therefore measurement should be velocity measurement amount.Due to victory
Connection inertial navigation with odometer is non-ideal is rigidly connected, when carrier vehicle is motor-driven, inertial navigation installation place, which exists, to be vibrated, and the vibration causes inertial navigation
There is error in speed, and the odometer sampling period is general very short with odometer measuring speed, the instantaneous speed for causing odometer to export
There is very big quantization error in degree, to eliminate the influence of vibration and quantization error to integrated navigation, using being averaged for filtering cycle
Then divided by filtering cycle speed integrates to observed quantity for a period of time as observed quantity, obtain average observed amount,
Average speed observed quantity is obtained especially by following manner：
Wherein, z1For average speed observed quantity, T is the Kalman filtering cycle,For the preferable speed in inertial navigation installation place
Degree, δ VnFor inertial navigation velocity error.
It is shorter in view of the actual Kalman filtering cycle, sub- inertial navigation velocity error, misalignment, mileage in filtering cycle
It is approximately constant value to count scale coefficient error, inertial navigation alignment error, lever arm error, and formula (5), formula (8) and formula (16) are substituted into
Formula (15), it is as follows can to obtain observational equation：
In the present invention, by air pressure altimeter and the elevation carrection amount of inertial navigation output, height is obtained by following formula and observed
Amount：
Wherein, z2Height observed quantity is represented,Inertial navigation output height is represented,Represent altimeter output height.
In view of the height error of inertial navigation and air pressure altimeter, height observational equation can be obtained：
z2=δ h- δ hb
Wherein, δ h are that inertial navigation exports height error, δ hbFor altimeter error.
Step 4, average speed observed quantity and height observed quantity are inputted into Kalman filter, reaches Kalman filtering
Cycle is filtered resolving, performs Kalman filtering algorithm (its specific algorithm is ordinary skill in the art means), so as to
To inertial navigation error estimate, lever arm error estimate, inertial navigation alignment error estimate, odometer scale coefficient error
Estimate and altimeter error estimate.
Step 5, to inertial navigation error, odometer scale coefficient error, inertial navigation alignment error, lever arm error and height
Journey meter error is corrected；Specifically, inertial navigation error is corrected using above-mentioned inertial navigation error estimate, utilized
Odometer scale coefficient error estimate is corrected to odometer calibration factor, using the inertial navigation alignment error to victory
Connection inertial navigation installation matrix is modified, and lever arm is corrected using the lever arm error estimate, missed using the altimeter
Poor estimate is corrected to altimeter error；Inertial navigation velocity information, positional information and attitude information conduct after correction
Navigation information is exported；It is then back to step 2.Above-mentioned steps 2,3,4,5 continuous iteration are carried out, so as to which constantly output combination is led
Boat information.
When it is implemented, for above-mentioned formula (4), it is a small amount of to ignore second order, then can obtain odometer and test the speed model：
μ=[the δ β of δ α 0]T
Wherein,Expression utilizes the actual speed calculated of odometer,Represent the vector form under navigational coordinate system n
Odometer output speed,The odometer output speed in inertial navigation vector form under carrier coordinate system b is represented,Table
Show SINS Attitude matrix,Inertial navigation installation matrix is represented, δ α represent inertial navigation pitching alignment error estimate, δ
β represents inertial navigation orientation alignment error estimate, and δ k represent odometer scale coefficient error estimate,Represent inertial navigation
The misaligned angle of the platform.
When it is implemented, for above-mentioned formula (8), it is a small amount of to ignore second order, obtains following lever arm rate pattern：
Wherein,The lever arm speed actually calculated is represented,Represent that inertial navigation carrier coordinate system b exists with respect to the speed of the earth
Projection on inertial navigation carrier coordinate system b, lbRepresent lever arm length, δ lbRepresent lever arm error estimate.
Air pressure altimeter is determined high using the atmospheric pressure of air gauge measurement carrier vehicle surrounding environment using ARDC model atmosphere ARDC
Degree.Therefore, air pressure altimeter does not need external equipment information, and it is not had the characteristics of entirely autonomous by external signal interference, this
Still there is the characteristics of entirely autonomous after invention inertial navigation/odometer/altimeter combination, can suppress height after introducing altimeter
The divergent trend of passage.Due to the atmospheric parameter of the actually located reference sea-level atmosphere parameter of carrier vehicle and standard sea level
Have differences and atmospheric pressure measurement error causes air pressure altimeter measurement error to be present, it is of the invention by air pressure altimeter error
δhbIt is modeled as first-order Markov process：
Wherein,Represent revised altimeter error, δ hbRepresent standard elevation meter error, τbRepresent correlation time, wb
Represent white noise.
When it is implemented, inertial navigation/odometer of the present invention/altimeter integrated navigation system state uses 22 dimensions：
The state equation that the present invention designs includes inertial navigation error equation, inertial device error model, odometer scale
System errors model, inertial navigation alignment error model, lever arm error model, altimeter error model, in Kalman filter
Use following state equation：
Wherein,Inertial navigation the misaligned angle of the platform rate of change is represented,Inertial navigation velocity error rate of change is represented,SINS Position error rate is represented,Inertial navigation gyroscope constant value drift rate of change is represented,Represent strapdown
Inertial navigation accelerometer constant value drift rate of change,Odometer scale coefficient error rate of change is represented,Represent inertial navigation
Pitching alignment error rate of change,Inertial navigation orientation alignment error rate of change is represented,Lever arm error rate is represented,Altimeter error rate is represented,Represent navigational coordinate system n relative inertnesses system's angular speed under navigational coordinate system n
Projection, εbRepresent gyroscope constant value drift,Represent Gyro Random noise, fbInertial navigation specific force is represented,Represent earth rotation angle speed
The projection on navigational coordinate system n is spent,Represent navigational coordinate system n with respect to earth rotational angular velocity on navigational coordinate system n
Projection, δ VnFor inertial navigation output speed error, VnRepresent inertial navigation output speed, ▽bAccelerometer constant value drift is represented,Represent
Accelerometer random noise, δ P represent inertial navigation site error, RMEarth radius of curvature of meridian is represented, h is inertial navigation place
Highly, L dimension, V where inertial navigationNFor north orientation speed, VEFor east orientation speed, RNFor earth prime vertical radius.
As can be seen from the above equation, odometer scale coefficient error, inertial navigation pitching alignment error, inertial navigation orientation peace
Dress error and lever arm range error are all modeled as random constant value.
By the state equation in the present invention, measurement equation, observational equation discretization, (specific discrete processes process is this area
The conventional technical means of technical staff), it can obtain
Wherein, wk,vkIt is the zero-mean white noise of discretization, its covariance matrix is respectively Qk,Rk.Due to state equation
All it is linear equation with observational equation, therefore navigation can be combined using standard Kalman filtering algorithm.
Every error estimate is obtained after being filtered using standard Kalman, according to each error model, by following formula to items
Error is corrected.
K=1- δ k
In the description of this specification, reference term " the present embodiment ", " one embodiment ", " some embodiments ", " show
The description of example ", " specific example " or " some examples " etc. mean to combine the specific features of the embodiment or example description, structure,
Material or feature are contained at least one embodiment or example of the present invention.In this manual, above-mentioned term is shown
The statement of meaning property is necessarily directed to identical embodiment or example.Moreover, specific features, structure, material or the spy of description
Point can combine in an appropriate manner in any one or more embodiments or example.In addition, in the case of not conflicting,
Those skilled in the art can be by the different embodiments or example described in this specification and different embodiments or example
Feature is combined and combined.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Any modification, equivalent substitution and simple modifications for being made in content etc., should be included in the scope of the protection.
Claims (8)
1. a kind of vehicle-mounted inertial navigation, odometer and altimeter Combinated navigation method, it is characterised in that：This method includes following step
Suddenly,
Step 1, when carrier vehicle is static, inertial navigation is initially aligned, and inertial navigation enters group after the completion of initial alignment
Close navigational state；
Step 2, inertial navigation carries out inertia resolving, obtains inertial navigation outgoing position, speed, posture and height, calculates lever arm speed,
Odometer output speed is obtained by odometer simultaneously and altimeter output height is obtained by altimeter；
Step 3, inertial navigation output speed, the lever arm speed calculated and odometer output speed are distinguished within the Kalman filtering cycle
Integral operation is carried out, inertial navigation mileage increment, lever arm mileage increment and odometer mileage increment are obtained, by inertial navigation mileage increment, bar
Arm mileage increment and odometer mileage increment difference divided by Kalman filtering cycle, obtain the average speed of inertial navigation average speed, lever arm
Degree and odometer average speed, then calculate average speed observed quantity；By inertial navigation output height and altimeter output highly
To height observed quantity；
Step 4, the average speed observed quantity and the height observed quantity are inputted into Kalman filter, so as to obtain victory
Join ins error estimate, lever arm error estimate, inertial navigation alignment error estimate, the estimation of odometer scale coefficient error
Value and altimeter error estimate；
Step 5, inertial navigation error is corrected using above-mentioned inertial navigation error estimate, utilizes odometer calibration factor
Error estimate is corrected to odometer calibration factor, and matrix is installed to inertial navigation using the inertial navigation alignment error
It is modified, lever arm is corrected using the lever arm error estimate, using the altimeter error estimate to elevation
Meter error is corrected；Inertial navigation velocity information, positional information and attitude information after correction carry out defeated as navigation information
Go out；It is then back to step 2.
2. vehicle-mounted inertial navigation according to claim 1, odometer and altimeter Combinated navigation method, it is characterised in that：
In step 2, lever arm speed is calculated using SINS Attitude matrix and lever arm length estimate：
<mrow>
<msubsup>
<mover>
<mi>v</mi>
<mo>^</mo>
</mover>
<mrow>
<mi>l</mi>
<mi>a</mi>
</mrow>
<mi>n</mi>
</msubsup>
<mo>=</mo>
<msubsup>
<mover>
<mi>C</mi>
<mo>^</mo>
</mover>
<mi>b</mi>
<mi>n</mi>
</msubsup>
<msubsup>
<mi>&omega;</mi>
<mrow>
<mi>e</mi>
<mi>b</mi>
</mrow>
<mi>b</mi>
</msubsup>
<mo>&times;</mo>
<msup>
<mover>
<mi>l</mi>
<mo>^</mo>
</mover>
<mi>b</mi>
</msup>
<mo>;</mo>
</mrow>
Wherein,The lever arm speed calculated is represented,The attitude matrix that inertial navigation calculates is represented,Represent that inertial navigation carrier is sat
Mark system b with respect to the earth projection of the speed on inertial navigation carrier coordinate system b,Represent the lever arm length calculated.
3. vehicle-mounted inertial navigation according to claim 2, odometer and altimeter Combinated navigation method, it is characterised in that：
In step 2, odometer output speed is calculated using odometer output pulse number；The vector form under carrier vehicle coordinate system m
Odometer output speed be：
<mrow>
<msubsup>
<mover>
<mi>v</mi>
<mo>^</mo>
</mover>
<mrow>
<mi>o</mi>
<mi>d</mi>
</mrow>
<mi>m</mi>
</msubsup>
<mo>=</mo>
<mover>
<mi>k</mi>
<mo>^</mo>
</mover>
<msup>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mfrac>
<msub>
<mi>N</mi>
<mi>i</mi>
</msub>
<msub>
<mi>T</mi>
<mi>s</mi>
</msub>
</mfrac>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
</mtr>
</mtable>
</mfenced>
<mi>T</mi>
</msup>
</mrow>
Wherein,The odometer output speed of the vector form under carrier vehicle coordinate system m is represented,Represent odometer calibration factor, Ni
Represent odometer output umber of pulse, TsRepresent the sampling period；
The odometer that the odometer output speed under carrier vehicle coordinate system m is transformed under navigational coordinate system n in the following way is defeated
Go out speed：
<mrow>
<msubsup>
<mover>
<mi>v</mi>
<mo>^</mo>
</mover>
<mrow>
<mi>o</mi>
<mi>d</mi>
</mrow>
<mi>b</mi>
</msubsup>
<mo>=</mo>
<msubsup>
<mover>
<mi>C</mi>
<mo>^</mo>
</mover>
<mi>m</mi>
<mi>b</mi>
</msubsup>
<msubsup>
<mover>
<mi>v</mi>
<mo>^</mo>
</mover>
<mrow>
<mi>o</mi>
<mi>d</mi>
</mrow>
<mi>m</mi>
</msubsup>
<mo>;</mo>
</mrow>
<mrow>
<msubsup>
<mover>
<mi>v</mi>
<mo>^</mo>
</mover>
<mrow>
<mi>o</mi>
<mi>d</mi>
</mrow>
<mi>n</mi>
</msubsup>
<mo>=</mo>
<msubsup>
<mover>
<mi>C</mi>
<mo>^</mo>
</mover>
<mi>b</mi>
<mi>n</mi>
</msubsup>
<msubsup>
<mover>
<mi>C</mi>
<mo>^</mo>
</mover>
<mi>m</mi>
<mi>b</mi>
</msubsup>
<msubsup>
<mover>
<mi>v</mi>
<mo>^</mo>
</mover>
<mrow>
<mi>o</mi>
<mi>d</mi>
</mrow>
<mi>m</mi>
</msubsup>
<mo>;</mo>
</mrow>
Wherein,Represent inertial navigation installation matrix.
4. vehicle-mounted inertial navigation according to claim 3, odometer and altimeter Combinated navigation method, it is characterised in that：
In step 3, average speed observed quantity is calculated by following formula：
<mrow>
<msub>
<mi>z</mi>
<mn>1</mn>
</msub>
<mo>=</mo>
<mfrac>
<mn>1</mn>
<mi>T</mi>
</mfrac>
<mo>&Integral;</mo>
<msubsup>
<mover>
<mi>v</mi>
<mo>^</mo>
</mover>
<mrow>
<mi>i</mi>
<mi>m</mi>
<mi>u</mi>
</mrow>
<mi>n</mi>
</msubsup>
<mi>d</mi>
<mi>t</mi>
<mo>-</mo>
<mfrac>
<mn>1</mn>
<mi>T</mi>
</mfrac>
<mo>&Integral;</mo>
<msubsup>
<mover>
<mi>v</mi>
<mo>^</mo>
</mover>
<mrow>
<mi>o</mi>
<mi>d</mi>
</mrow>
<mi>n</mi>
</msubsup>
<mi>d</mi>
<mi>t</mi>
<mo>-</mo>
<mfrac>
<mn>1</mn>
<mi>T</mi>
</mfrac>
<mo>&Integral;</mo>
<msubsup>
<mover>
<mi>v</mi>
<mo>^</mo>
</mover>
<mrow>
<mi>l</mi>
<mi>a</mi>
</mrow>
<mi>n</mi>
</msubsup>
<mi>d</mi>
<mi>t</mi>
</mrow>
Wherein, z1Average speed observed quantity is represented, T represents the Kalman filtering cycle,Represent the speed of inertial navigation output.
5. vehicle-mounted inertial navigation according to claim 4, odometer and altimeter Combinated navigation method, it is characterised in that：
In step 3, height observed quantity is obtained in the following way：
<mrow>
<msub>
<mi>z</mi>
<mn>2</mn>
</msub>
<mo>=</mo>
<msub>
<mover>
<mi>h</mi>
<mo>^</mo>
</mover>
<mrow>
<mi>i</mi>
<mi>m</mi>
<mi>u</mi>
</mrow>
</msub>
<mo>-</mo>
<msub>
<mover>
<mi>h</mi>
<mo>^</mo>
</mover>
<mi>b</mi>
</msub>
<mo>;</mo>
</mrow>
Wherein, z2Height observed quantity is represented,Inertial navigation output height is represented,Represent altimeter output height.
6. vehicle-mounted inertial navigation according to claim 5, odometer and altimeter Combinated navigation method, it is characterised in that：
In step 4, following state equation is used in the Kalman filter：
<mrow>
<msub>
<mi>M</mi>
<mn>1</mn>
</msub>
<mo>=</mo>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mrow>
<mn>1</mn>
<mo>/</mo>
<mrow>
<mo>(</mo>
<msub>
<mi>R</mi>
<mi>M</mi>
</msub>
<mo>+</mo>
<mi>h</mi>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mi>sec</mi>
<mi> </mi>
<mi>L</mi>
<mo>/</mo>
<mrow>
<mo>(</mo>
<msub>
<mi>R</mi>
<mi>M</mi>
</msub>
<mo>+</mo>
<mi>h</mi>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>1</mn>
</mtd>
</mtr>
</mtable>
</mfenced>
</mrow>
<mrow>
<msub>
<mi>M</mi>
<mn>2</mn>
</msub>
<mo>=</mo>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<msub>
<mi>V</mi>
<mi>N</mi>
</msub>
<mo>/</mo>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>R</mi>
<mi>M</mi>
</msub>
<mo>+</mo>
<mi>h</mi>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>V</mi>
<mi>E</mi>
</msub>
<mi>tan</mi>
<mi> </mi>
<mi>L</mi>
<mi> </mi>
<mi>sec</mi>
<mi> </mi>
<mi>L</mi>
<mo>/</mo>
<mrow>
<mo>(</mo>
<msub>
<mi>R</mi>
<mi>N</mi>
</msub>
<mo>+</mo>
<mi>h</mi>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<msub>
<mi>V</mi>
<mi>E</mi>
</msub>
<mi>sec</mi>
<mi> </mi>
<mi>L</mi>
<mo>/</mo>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>R</mi>
<mi>N</mi>
</msub>
<mo>+</mo>
<mi>h</mi>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
</mtr>
</mtable>
</mfenced>
</mrow>
Wherein,Inertial navigation the misaligned angle of the platform rate of change is represented,Inertial navigation velocity error rate of change is represented,
SINS Position error rate is represented,Inertial navigation gyroscope constant value drift rate of change is represented,Represent inertial navigation
Accelerometer constant value drift rate of change,Odometer scale coefficient error rate of change is represented,Represent inertial navigation pitching
Alignment error rate of change,Inertial navigation orientation alignment error rate of change is represented,Lever arm error rate is represented,
Altimeter error rate is represented,Projection of the navigational coordinate system n relative inertnesses system's angular speed under navigational coordinate system n is represented,
εbRepresent gyroscope constant value drift,Represent Gyro Random noise, fbInertial navigation specific force is represented,Represent that rotational-angular velocity of the earth exists
Projection on navigational coordinate system n,Represent throwings of the navigational coordinate system n with respect to earth rotational angular velocity on navigational coordinate system n
Shadow, δ VnFor inertial navigation output speed error, VnRepresent inertial navigation output speed, ▽bAccelerometer constant value drift is represented,Represent to add
Speedometer random noise, δ P represent inertial navigation site error, RMEarth radius of curvature of meridian is represented, h is height where inertial navigation
Degree, L dimension, V where inertial navigationNFor north orientation speed, VEFor east orientation speed, RNFor earth prime vertical radius.
7. vehicle-mounted inertial navigation according to claim 6, odometer and altimeter Combinated navigation method, it is characterised in that：
In step 5, every error is corrected by following formula：
<mrow>
<msup>
<mi>V</mi>
<mi>n</mi>
</msup>
<mo>=</mo>
<msup>
<mover>
<mi>V</mi>
<mo>^</mo>
</mover>
<mi>n</mi>
</msup>
<mo>-</mo>
<msup>
<mi>&delta;V</mi>
<mi>n</mi>
</msup>
<mo>;</mo>
</mrow>
<mrow>
<mi>P</mi>
<mo>=</mo>
<mover>
<mi>P</mi>
<mo>^</mo>
</mover>
<mo>+</mo>
<mi>&delta;</mi>
<mi>P</mi>
<mo>;</mo>
</mrow>
<mrow>
<msup>
<mi>&epsiv;</mi>
<mi>b</mi>
</msup>
<mo>=</mo>
<msup>
<mover>
<mi>&epsiv;</mi>
<mo>^</mo>
</mover>
<mi>b</mi>
</msup>
<mo>+</mo>
<msup>
<mi>&delta;&epsiv;</mi>
<mi>b</mi>
</msup>
<mo>;</mo>
</mrow>
<mrow>
<msup>
<mo>&dtri;</mo>
<mi>b</mi>
</msup>
<mo>=</mo>
<msup>
<mover>
<mo>&dtri;</mo>
<mo>^</mo>
</mover>
<mi>b</mi>
</msup>
<mo>+</mo>
<mi>&delta;</mi>
<msup>
<mo>&dtri;</mo>
<mi>b</mi>
</msup>
<mo>;</mo>
</mrow>
K=1- δ k；
<mrow>
<msubsup>
<mi>C</mi>
<mi>m</mi>
<mi>b</mi>
</msubsup>
<mo>=</mo>
<mrow>
<mo>(</mo>
<mi>I</mi>
<mo>+</mo>
<mi>&mu;</mi>
<mo>&times;</mo>
<mo>)</mo>
</mrow>
<msubsup>
<mover>
<mi>C</mi>
<mo>^</mo>
</mover>
<mi>m</mi>
<mi>b</mi>
</msubsup>
<mo>;</mo>
</mrow>
<mrow>
<msup>
<mi>l</mi>
<mi>b</mi>
</msup>
<mo>=</mo>
<msup>
<mover>
<mi>l</mi>
<mo>^</mo>
</mover>
<mi>b</mi>
</msup>
<mo>-</mo>
<msup>
<mi>&delta;l</mi>
<mi>b</mi>
</msup>
<mo>.</mo>
</mrow>
8. vehicle-mounted inertial navigation according to claim 7, odometer and altimeter Combinated navigation method, it is characterised in that：
The lever arm is arranged between the sensitivity center of inertial navigation Inertial Measurement Unit and odometer tachometric survey point；In navigation coordinate
It is the sensitivity center's speed, odometer output speed, lever arm for determining inertial navigation Inertial Measurement Unit under n as follows
Relation between speed：
<mrow>
<msubsup>
<mi>v</mi>
<mrow>
<mi>i</mi>
<mi>m</mi>
<mi>u</mi>
</mrow>
<mi>n</mi>
</msubsup>
<mo>=</mo>
<msubsup>
<mi>v</mi>
<mrow>
<mi>o</mi>
<mi>d</mi>
</mrow>
<mi>n</mi>
</msubsup>
<mo>+</mo>
<msubsup>
<mi>v</mi>
<mrow>
<mi>l</mi>
<mi>a</mi>
</mrow>
<mi>n</mi>
</msubsup>
</mrow>
Wherein,Sensitivity center's speed of inertial navigation Inertial Measurement Unit is represented,Odometer output speed is represented,Table
Show lever arm speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710965097.3A CN107588769B (en) | 2017-10-17 | 2017-10-17 | Vehicle-mounted strapdown inertial navigation, odometer and altimeter integrated navigation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710965097.3A CN107588769B (en) | 2017-10-17 | 2017-10-17 | Vehicle-mounted strapdown inertial navigation, odometer and altimeter integrated navigation method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107588769A true CN107588769A (en) | 2018-01-16 |
| CN107588769B CN107588769B (en) | 2020-01-03 |
Family
ID=61053361
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710965097.3A Active CN107588769B (en) | 2017-10-17 | 2017-10-17 | Vehicle-mounted strapdown inertial navigation, odometer and altimeter integrated navigation method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107588769B (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109540130A (en) * | 2018-10-25 | 2019-03-29 | 北京航空航天大学 | A kind of continuous milling machine inertial navigation positioning and orienting method |
| CN109579833A (en) * | 2018-12-04 | 2019-04-05 | 上海航天控制技术研究所 | A kind of Combinated navigation method in the vertical landing stage to recoverable carrier rocket |
| CN110221333A (en) * | 2019-04-11 | 2019-09-10 | 同济大学 | A kind of error in measurement compensation method of vehicle-mounted INS/OD integrated navigation system |
| CN111060096A (en) * | 2019-12-27 | 2020-04-24 | 武汉迈普时空导航科技有限公司 | Data processing method and system of MEMS-IMU module combined odometer |
| CN111323050A (en) * | 2020-03-19 | 2020-06-23 | 哈尔滨工程大学 | Strapdown inertial navigation and Doppler combined system calibration method |
| CN111380516A (en) * | 2020-02-27 | 2020-07-07 | 上海交通大学 | Inertial navigation/odometer vehicle combined navigation method and system based on odometer measurement information |
| CN111811537A (en) * | 2020-07-02 | 2020-10-23 | 重庆青年职业技术学院 | Error compensation method of strapdown inertial navigation and navigation system |
| CN112254725A (en) * | 2020-10-19 | 2021-01-22 | 北京航天发射技术研究所 | High-precision real-time attitude measurement device and method based on antenna turret |
| CN113503882A (en) * | 2021-06-03 | 2021-10-15 | 北京自动化控制设备研究所 | Vehicle-mounted inertia/geomagnetic combined navigation method and device |
| CN113834499A (en) * | 2021-08-26 | 2021-12-24 | 北京航天发射技术研究所 | Method and system for aligning vehicle-mounted inertial measurement unit and odometer during traveling |
| CN113884102A (en) * | 2020-07-04 | 2022-01-04 | 华为技术有限公司 | Calibration method of sensor installation deviation angle, combined positioning system and vehicle |
| CN114322998A (en) * | 2021-12-02 | 2022-04-12 | 河北汉光重工有限责任公司 | SINS _ OD combined navigation correction method based on lever arm estimation |
| CN114383609A (en) * | 2021-12-22 | 2022-04-22 | 中国煤炭科工集团太原研究院有限公司 | Combined navigation mine positioning method and device based on strapdown inertial navigation and odometer |
| CN115041669A (en) * | 2022-06-30 | 2022-09-13 | 山东中衡光电科技有限公司 | Control system and control method for large-scale belt cutting equipment |
| CN115615430A (en) * | 2022-12-21 | 2023-01-17 | 中国船舶集团有限公司第七〇七研究所 | Positioning data correction method and system based on strapdown inertial navigation |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2843902B2 (en) * | 1996-03-04 | 1999-01-06 | 防衛庁技術研究本部長 | Inertial navigation system for vehicles |
| CN102997892A (en) * | 2011-09-15 | 2013-03-27 | 北京自动化控制设备研究所 | Land type navigation system height combination method based on inertia/mileage meter/barometric height |
| CN103217157A (en) * | 2012-01-18 | 2013-07-24 | 北京自动化控制设备研究所 | Inertial navigation/mileometer autonomous integrated navigation method |
| CN105318876A (en) * | 2014-07-09 | 2016-02-10 | 北京自动化控制设备研究所 | Inertia and mileometer combination high-precision attitude measurement method |
| CN105371840A (en) * | 2015-10-30 | 2016-03-02 | 北京自动化控制设备研究所 | Method for combined navigation of inertia/visual odometer/laser radar |
| CN105509738A (en) * | 2015-12-07 | 2016-04-20 | 西北工业大学 | Inertial navigation/Doppler radar combination-based vehicle positioning and orientation method |
| CN106595705A (en) * | 2016-11-22 | 2017-04-26 | 北京航天自动控制研究所 | GPS-based flight inertial initial reference error estimation method |
-
2017
- 2017-10-17 CN CN201710965097.3A patent/CN107588769B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2843902B2 (en) * | 1996-03-04 | 1999-01-06 | 防衛庁技術研究本部長 | Inertial navigation system for vehicles |
| CN102997892A (en) * | 2011-09-15 | 2013-03-27 | 北京自动化控制设备研究所 | Land type navigation system height combination method based on inertia/mileage meter/barometric height |
| CN103217157A (en) * | 2012-01-18 | 2013-07-24 | 北京自动化控制设备研究所 | Inertial navigation/mileometer autonomous integrated navigation method |
| CN105318876A (en) * | 2014-07-09 | 2016-02-10 | 北京自动化控制设备研究所 | Inertia and mileometer combination high-precision attitude measurement method |
| CN105371840A (en) * | 2015-10-30 | 2016-03-02 | 北京自动化控制设备研究所 | Method for combined navigation of inertia/visual odometer/laser radar |
| CN105509738A (en) * | 2015-12-07 | 2016-04-20 | 西北工业大学 | Inertial navigation/Doppler radar combination-based vehicle positioning and orientation method |
| CN106595705A (en) * | 2016-11-22 | 2017-04-26 | 北京航天自动控制研究所 | GPS-based flight inertial initial reference error estimation method |
Non-Patent Citations (2)
| Title |
|---|
| FEI GUO 等: "Research of SINS/DVL/OD Integrated Navigation System based on Observability Analysis", 《PROCEEDINGS OF THE 35TH CHINESE CONTROL CONFERENCE》 * |
| 陈文学 等: "基于激光测距法提高车载激光捷联惯导/里程仪组合导航***导航精度的初步研究", 《光学与光电技术》 * |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109540130A (en) * | 2018-10-25 | 2019-03-29 | 北京航空航天大学 | A kind of continuous milling machine inertial navigation positioning and orienting method |
| CN109579833A (en) * | 2018-12-04 | 2019-04-05 | 上海航天控制技术研究所 | A kind of Combinated navigation method in the vertical landing stage to recoverable carrier rocket |
| CN110221333B (en) * | 2019-04-11 | 2023-02-10 | 同济大学 | Measurement error compensation method of vehicle-mounted INS/OD integrated navigation system |
| CN110221333A (en) * | 2019-04-11 | 2019-09-10 | 同济大学 | A kind of error in measurement compensation method of vehicle-mounted INS/OD integrated navigation system |
| CN111060096A (en) * | 2019-12-27 | 2020-04-24 | 武汉迈普时空导航科技有限公司 | Data processing method and system of MEMS-IMU module combined odometer |
| CN111380516A (en) * | 2020-02-27 | 2020-07-07 | 上海交通大学 | Inertial navigation/odometer vehicle combined navigation method and system based on odometer measurement information |
| CN111380516B (en) * | 2020-02-27 | 2022-04-08 | 上海交通大学 | Inertial navigation/odometer vehicle combined navigation method and system based on odometer measurement information |
| CN111323050A (en) * | 2020-03-19 | 2020-06-23 | 哈尔滨工程大学 | Strapdown inertial navigation and Doppler combined system calibration method |
| CN111811537A (en) * | 2020-07-02 | 2020-10-23 | 重庆青年职业技术学院 | Error compensation method of strapdown inertial navigation and navigation system |
| CN111811537B (en) * | 2020-07-02 | 2023-09-08 | 重庆青年职业技术学院 | Error compensation method for strapdown inertial navigation and navigation system |
| CN113884102A (en) * | 2020-07-04 | 2022-01-04 | 华为技术有限公司 | Calibration method of sensor installation deviation angle, combined positioning system and vehicle |
| CN112254725A (en) * | 2020-10-19 | 2021-01-22 | 北京航天发射技术研究所 | High-precision real-time attitude measurement device and method based on antenna turret |
| CN113503882A (en) * | 2021-06-03 | 2021-10-15 | 北京自动化控制设备研究所 | Vehicle-mounted inertia/geomagnetic combined navigation method and device |
| CN113503882B (en) * | 2021-06-03 | 2023-09-12 | 北京自动化控制设备研究所 | Vehicle-mounted inertial/geomagnetic integrated navigation method and device |
| CN113834499A (en) * | 2021-08-26 | 2021-12-24 | 北京航天发射技术研究所 | Method and system for aligning vehicle-mounted inertial measurement unit and odometer during traveling |
| CN114322998A (en) * | 2021-12-02 | 2022-04-12 | 河北汉光重工有限责任公司 | SINS _ OD combined navigation correction method based on lever arm estimation |
| CN114383609A (en) * | 2021-12-22 | 2022-04-22 | 中国煤炭科工集团太原研究院有限公司 | Combined navigation mine positioning method and device based on strapdown inertial navigation and odometer |
| CN115041669A (en) * | 2022-06-30 | 2022-09-13 | 山东中衡光电科技有限公司 | Control system and control method for large-scale belt cutting equipment |
| CN115615430A (en) * | 2022-12-21 | 2023-01-17 | 中国船舶集团有限公司第七〇七研究所 | Positioning data correction method and system based on strapdown inertial navigation |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107588769B (en) | 2020-01-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107588769A (en) | A kind of vehicle-mounted inertial navigation, odometer and altimeter Combinated navigation method | |
| US6459990B1 (en) | Self-contained positioning method and system thereof for water and land vehicles | |
| Fu et al. | High-accuracy SINS/LDV integration for long-distance land navigation | |
| US8229606B2 (en) | Systems and methods for estimating position, attitude, and/or heading of a vehicle | |
| CN100593689C (en) | Gasture estimation and interfusion method based on strapdown inertial nevigation system | |
| JP7073052B2 (en) | Systems and methods for measuring the angular position of a vehicle | |
| CN103245359B (en) | A kind of inertial sensor fixed error real-time calibration method in inertial navigation system | |
| CN104515527B (en) | A kind of anti-rough error Combinated navigation method under no gps signal environment | |
| KR20170109646A (en) | GNSS-INS Vehicle Attitude Determination Method Based on Single Antenna | |
| CN107121141A (en) | A kind of data fusion method suitable for location navigation time service micro-system | |
| CN104764467B (en) | Re-entry space vehicle inertial sensor errors online adaptive scaling method | |
| CN201561759U (en) | Inertial attitude and azimuth measuring device | |
| JP2010032398A (en) | Location detecting apparatus and method of navigation system | |
| CN111156994A (en) | INS/DR & GNSS loose integrated navigation method based on MEMS inertial component | |
| CN1932444B (en) | Attitude measuring method adapted to high speed rotary body | |
| CN101571394A (en) | Method for determining initial attitude of fiber strapdown inertial navigation system based on rotating mechanism | |
| CN104697526A (en) | Strapdown inertial navitation system and control method for agricultural machines | |
| CN101963512A (en) | Initial alignment method for marine rotary fiber-optic gyroscope strapdown inertial navigation system | |
| CN112432642B (en) | Gravity beacon and inertial navigation fusion positioning method and system | |
| CN108088443A (en) | A kind of positioning and directing device rate compensation method | |
| CN113340298B (en) | Inertial navigation and dual-antenna GNSS external parameter calibration method | |
| CN102116634A (en) | Autonomous dimensionality reduction navigation method for deep sky object (DSO) landing detector | |
| CN107677292B (en) | Vertical line deviation compensation method based on gravity field model | |
| CN103792561A (en) | Tight integration dimensionality reduction filter method based on GNSS channel differences | |
| CN105928515A (en) | Navigation system for unmanned plane |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |